My 2011 runs the Ford Premium Gold coolant, a.k.a. G-05. You can buy Zerex brand G-05 coolant at Walmart. I suspect your 2010 has this coolant also. I'd suggest replacing with the same.
Here's a good article about the latest coolants:
http://www.gates.com/downloads/downl...older=brochure
The Ford Gold is supposed to be good for 5yrs/100,000miles.
The article above does say you can switch from G-05 to american conventional green (non-long-life), but I'd be leery of potential compatibility issues and I'm planning to stick to the original spec for myself.